CN108312172A - A kind of flexible manipulator - Google Patents
A kind of flexible manipulator Download PDFInfo
- Publication number
- CN108312172A CN108312172A CN201810336627.2A CN201810336627A CN108312172A CN 108312172 A CN108312172 A CN 108312172A CN 201810336627 A CN201810336627 A CN 201810336627A CN 108312172 A CN108312172 A CN 108312172A
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- China
- Prior art keywords
- fingers
- flexible manipulator
- cavity
- connecting pole
- face
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 239000000835 fiber Substances 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 9
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 208000002925 dental caries Diseases 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Abstract
Include the connecting pole with hollow cavity, total air inlet on connecting pole, the connecting plate set on connecting pole one end, at least two groups finger mechanism the invention discloses a kind of flexible manipulator；Finger mechanism include Fingers face, the Fingers back of the body, the first cavity between Fingers face and the Fingers back of the body, at least one the second cavity be connected to the first cavity set on the semicircle donor of Fingers back, in semicircle donor, be convexly equipped in the Fingers face other side lower surface be inclined-plane lug boss, the dilatancy amount that Fingers are carried on the back is more than Fingers face；Finger mechanism further includes being connected to the connector at Fingers root, the third cavity being connected to the first cavity in connector, the air inlet on connector, the gas outlet being connected to air inlet on connecting pole, the sliding slot being opened on connector, being used to penetrate the sliding rail in sliding slot on connecting plate.Flexible manipulator grasp force of the present invention is larger, can capture different size of article.
Description
Technical field
The present invention relates to a kind of flexible manipulators.
Background technology
In industrial automation, the gripper for capturing article with mechanical arm cooperation is using very extensive.By
In rigid finger there is larger grasp force, most of gripper to be made of rigid finger.But rigid finger is difficult to realize pair
The lossless crawl of flexible objects needs flexible finger to realize.And flexible finger, with the frictional force of the contact surface of article compared with
Small, during gripping, often there is a phenomenon where articles to fall off.
Due to the difference of article specification size, need to be captured using the gripper of different size, cost is higher.
Invention content
The object of the present invention is to provide a kind of flexible manipulators, can greatly increase frictional force when crawl article, and raising is grabbed
The stability of article is taken, and different size of article can be captured.
In order to achieve the above objectives, the technical solution adopted by the present invention is：
A kind of flexible manipulator, include connecting pole with hollow cavity, on the connecting pole with the hollow cavity
Total air inlet, the connecting plate set on described connecting pole one end, at least two groups finger mechanism of connection；
The finger mechanism includes Fingers face, is connected to the Fingers back of the body of Fingers face side, is set to the Fingers
The first cavity between face and the Fingers back of the body, at least one semicircle donor set on the Fingers back, be set to described in
The second cavity being connected to first cavity in semicircle donor, the lug boss for being convexly equipped in the Fingers face other side, institute
The lower surface for stating lug boss is inclined-plane, and the dilatancy amount of the Fingers back of the body is more than the dilatancy amount in the Fingers face；
The finger mechanism further include be connected to the connector at Fingers root, in the connector with first chamber
The third cavity of body connection, is set to the connecting pole at the air inlet being connected to the third cavity on the connector
On the gas outlet being connected to respectively with the hollow cavity and the air inlet, the sliding slot being opened on the connector, be set to
Sliding rail on the connecting plate, the connector are set by the sliding slot along what the direction closer or far from the connecting pole was slided
In on the sliding rail.
Preferably, the flexible manipulator further include the fibre optical sensor being set on the connecting plate, it is described for controlling
The controller of connecting pole movement, the fibre optical sensor, for judging whether the flexible manipulator catches article, and described
Flexible manipulator sends the first signal to the controller, the controller, for receiving described first when catching article
The connecting pole movement is controlled after signal, and article is delivered to designated position.
Preferably, the flexible manipulator further includes the connection for connecting mechanical arm set on the connecting pole other end
Flange.
Preferably, finger mechanism described at least two groups is evenly spaced is located on the outside of the connecting pole, at least two groups institute
The circular center for stating finger mechanism is located on the axial line of the connecting pole.
Preferably, the lug boss is V-shaped, and the opening of the lug boss is backwards to finger fingertip, the following table of the lug boss
Face tilts gradually downward along the direction far from the finger fingertip.
It is highly preferred that the lug boss has multiple, length extending direction of multiple lug bosses along the Fingers face
It is evenly spaced to be arranged on the Fingers face.
Preferably, the semicircle donor has multiple, and multiple semicircle donors are along the length extension side that the Fingers are carried on the back
It is arranged in the Fingers back to evenly spaced.
It is highly preferred that the circle center line connecting of multiple semicircle donors is parallel to the length extending direction of the Fingers back of the body.
Preferably, the Fingers face, the Fingers back of the body, the semicircle donor are made of silica gel material.
It is highly preferred that the semicircle donor is integrally formed with the Fingers back of the body, the Fingers back of the body ultrasonic bond is set to institute
State the side in Fingers face.
Due to the application of the above technical scheme, the present invention has following advantages compared with prior art：It is of the invention a kind of soft
Property manipulator, by being used to capture the side setting of article in Fingers face in the lug boss on inclined-plane, when article is from a direction
When being subjected to displacement with Fingers face, inclined-plane and the article of the lug boss contradict, and increase contact area, to increase friction
Power；When object is subjected to displacement from another direction and Fingers face, the bottom edge of the inclined-plane outwardly convex contacts article, with article
Back-off state is formed, frictional force is also increased；By the way that the lug boss is arranged, frictional force when crawl article is considerably increased, is carried
The high stability of crawl article；By the way that sliding rail and sliding slot is arranged, keeps flexible finger adjustable with respect to the position of connecting pole, make machinery
Pawl can the corresponding different size of article of crawl.
Description of the drawings
Attached drawing 1 is the structural schematic diagram one of flexible manipulator of the present invention；
Attached drawing 2 is the structural schematic diagram two of flexible manipulator of the present invention；
Attached drawing 3 is the structural schematic diagram of flexible finger.
Wherein：1, connecting pole；2, total air inlet；3, connecting plate；4, Fingers face；5, Fingers are carried on the back；6, the first cavity；7、
Semicircle donor；8, the second cavity；9, inclined-plane；10, connector；11, third cavity；12, air inlet；13, gas outlet；14, sliding slot；
15, sliding rail；16, fibre optical sensor；17, connecting flange.
Specific implementation mode
The technical solution of the present invention will be further described below with reference to the accompanying drawings.
Referring to shown in Fig. 1-3, a kind of above-mentioned flexible manipulator includes connecting pole 1 with hollow cavity, is set to connecting pole
The total air inlet 122 being connected to hollow cavity on 1, the connecting plate 3 set on 1 one end of connecting pole, at least two groups finger mechanism.
In the present embodiment, finger mechanism has four groups, and four groups of finger mechanisms are evenly spaced to be located on 1 outside of connecting pole, four groups of finger machines
The circular center of structure is located on the axial line of connecting pole 1.The angle of four groups of finger mechanisms between any two is 90 °.
Finger mechanism includes Fingers face 4, is connected to the Fingers back of the body 5 of 4 one side of Fingers face, and Fingers face 4 is distributed
Planar, the Fingers back of the body 5 is convexly equipped on Fingers face 4, is enclosed equipped with the first cavity 6 between the Fingers back of the body 5 and Fingers face 4.
5 composition flexible finger of Fingers face 4 and the Fingers back of the body.
Finger mechanism further include it is at least one set on Fingers the back of the body 5 on semicircle donor 7, in semicircle donor 7 with
Second cavity 8 of the first cavity 6 connection.In the present embodiment, semicircle donor 7 has multiple, and multiple semicircle donors 7 are carried on the back along Fingers
5 length extending direction is evenly spaced to be arranged on the Fingers back of the body 5；The circle center line connecting of multiple semicircle donors 7 is parallel to finger
Refer to the length extending direction of the back of the body 5.Shunk for inflation and air-breathing by the way that semicircle donor 7 is arranged so that the Fingers back of the body 5 it is swollen
Bulging deformation amount is more than the dilatancy amount in Fingers face 4, and when being inflated to the first cavity 6 and the second cavity 8, semicircle donor 7 expands,
Make flexible finger to 4 curving of Fingers face, for coordinating remaining flexible finger to capture article；To the first chamber
When body 6 and the second 8 air-breathing of cavity, semicircle donor 7 is shunk so that flexible finger carries on the back 5 curvings to Fingers, for coordinating it
Remaining flexible finger decontrols article.By the way that semicircle donor 7 is arranged, for flexible finger in bending, bending force is to semicircle donor 7
Circle centre position is concentrated, to increase the dynamics of bending.
Finger mechanism further includes the lug boss for being convexly equipped in 4 other side of Fingers face, and the lower surface of lug boss is inclined-plane 9.
In the present embodiment, lug boss is V-shaped, and the opening of lug boss is backwards to finger fingertip, and the lower surface of lug boss is along far from finger fingertip
Direction tilt gradually downward（With reference to figure 3, the lower section in Fig. 3 is lower section here, and the left end in Fig. 3 is Fingers
Point）.Lug boss has multiple, and length extending direction of multiple lug bosses along Fingers face 4 is evenly spaced to be arranged in Fingers face 4
On.By the way that the lower surface of lug boss is arranged to inclined-plane 9 so that the area summation of the lower surface of multiple lug bosses is more than Fingers
The area in face 4 increases the contact area with article.Obviously, the orthographic projection of the inclined-plane 9 on Fingers face 4 is V-shaped.Pass through
Be arranged the lower surface be inclined-plane 9 lug boss, when article from the bottom up（With reference to figure 1, the top in Fig. 1 is top here,
Lower section in Fig. 1 is lower section here）When being subjected to displacement with Fingers face 4, inclined-plane 9 and the article of the lug boss contradict, and increase
Big contact area, to increase frictional force；When object from top to bottom（With reference to figure 1, top in Fig. 1 is here upper
Square, the lower section in Fig. 1 is lower section here）When being subjected to displacement with Fingers face 4, the bottom edge of 9 outwardly convex of inclined-plane contacts
Article forms back-off state with article, also increases frictional force；By the way that the lug boss is arranged, when considerably increasing crawl article
Frictional force, improve crawl article stability.
Finger mechanism further include be connected to connector 10 at Fingers root, in connector 10 with the first cavity 6
The third cavity 11 of connection, the air inlet 12 being connected to third cavity 11 on connector 10, two on connecting pole 1
The gas outlet 13 being connected to respectively with hollow cavity and air inlet 12 is held, first cavity 6 is inflated by the air inlet 12 swollen
Swollen and air-breathing is shunk, and four air inlets 12 are connected to by gas outlet 13 in the hollow cavity of connecting pole 1, makes four groups of flexibilities
Finger synchronization moves, and improves the stability of crawl article.
Finger mechanism further includes the sliding slot 14 being opened on connector 10, the sliding rail 15 on connecting plate 3, connector 10
Pass through being set on sliding rail 15 along the direction sliding closer or far from connecting pole 1 of sliding slot 14.In the present embodiment, which is
It is I-shaped, then corresponding two guide rails to be mutually parallel of sliding rail 15, by the way that the sliding slot 14 and sliding rail 15, the company of being not only convenient for is arranged
The modularization of fitting 10 is installed, moreover it is possible to slidable adjustment is carried out in installation site, to adapt to the crawl of different size article.In this reality
It applies in example, connector 10 is mounted on by the trough rim of sliding slot 14 on sliding rail 15.
Flexible manipulator further includes the fibre optical sensor 16 being set on connecting plate 3, the control for controlling the movement of connecting pole 1
Device（It is not shown in figure）.Fibre optical sensor 16 is caught for judging whether flexible manipulator catches article in flexible manipulator
The first signal is sent when article to controller, controller is used to control connecting pole 1 after receiving the first signal and move, by article
It is delivered to designated position, further improves the stability of crawl.In the present embodiment, fibre optical sensor 16 and flexible finger are set
In the homonymy of connecting plate 3.
Flexible manipulator further includes the connecting flange 17 for connecting mechanical arm set on 1 other end of connecting pole, by this
Connecting flange 17, the connection that can stablize flexible manipulator on the robotic arm, follow mechanical arm to be moved.
In the present embodiment, Fingers face 4, the Fingers back of the body 5, semicircle donor 7 pass through 3D printing technique by silica gel material
It is made.Semicircle donor 7 is integrally formed with the Fingers back of the body 5, and ultrasonic bond is set on the side in Fingers face 4 again for the Fingers back of the body 5, by adopting
With ultrasonic welding technique, makes the complete gluing, sealing of the two, ensure that the air-tightness of the first cavity 6 and the second cavity 8.
The course of work of lower the present embodiment is illustrated in detail below：
Before capturing article, according to position of the size adjusting connector 10 of article on sliding rail 15, i.e. adjusting connector 10 is opposite
The distance of connecting pole 1.
When capturing article, hollow cavity is inflated, four the first cavitys 6 is made to synchronize air inlet, four flexible fingers is made to synchronize
It is mutually matched that article is captured to 4 curving of Fingers face, judge whether to catch object by fibre optical sensor 16
Product send the first signal to controller after catching article, and controller is connected after receiving the first signal by manipulator control
Column 1 moves, and article is delivered to designated position, is then synchronized and is deflated by four the first cavitys 6 of hollow cavity pair, make four it is soft
Property finger synchronization to Fingers carry on the back 5 curvings, put down article.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand present disclosure and be implemented, and it is not intended to limit the scope of the present invention, all according to the present invention
Equivalent change or modification made by Spirit Essence should all cover within the scope of the present invention.
Claims (10)
1. a kind of flexible manipulator, it is characterised in that：Include connecting pole with hollow cavity, on the connecting pole with
Total air inlet, the connecting plate set on described connecting pole one end, at least two groups finger mechanism of the hollow cavity connection；
The finger mechanism includes Fingers face, is connected to the Fingers back of the body of Fingers face side, is set to the Fingers
The first cavity between face and the Fingers back of the body, at least one semicircle donor set on the Fingers back, be set to described in
The second cavity being connected to first cavity in semicircle donor, the lug boss for being convexly equipped in the Fingers face other side, institute
The lower surface for stating lug boss is inclined-plane, and the dilatancy amount of the Fingers back of the body is more than the dilatancy amount in the Fingers face；
The finger mechanism further include be connected to the connector at Fingers root, in the connector with first chamber
The third cavity of body connection, is set to the connecting pole at the air inlet being connected to the third cavity on the connector
On the gas outlet being connected to respectively with the hollow cavity and the air inlet, the sliding slot being opened on the connector, be set to
Sliding rail on the connecting plate, the connector are set by the sliding slot along what the direction closer or far from the connecting pole was slided
In on the sliding rail.
2. a kind of flexible manipulator according to claim 1, it is characterised in that：The flexible manipulator further includes being set to institute
State the fibre optical sensor on connecting plate, the controller for controlling the connecting pole movement, the fibre optical sensor, for judging
Whether the flexible manipulator catches article, and sends the first signal to the control when the flexible manipulator catches article
Article is delivered to specific bit by device, the controller for controlling the connecting pole movement after receiving first signal
It sets.
3. a kind of flexible manipulator according to claim 1, it is characterised in that：The flexible manipulator further includes being set to institute
State the connecting flange for connecting mechanical arm of the connecting pole other end.
4. a kind of flexible manipulator according to claim 1, it is characterised in that：Finger mechanism interval described at least two groups is equal
Even is located on the outside of the connecting pole, and the circular center of finger mechanism described at least two groups is located at the axial line of the connecting pole
On.
5. a kind of flexible manipulator according to claim 1, it is characterised in that：The lug boss is V-shaped, the lug boss
Opening backwards to finger fingertip, the lower surface of the lug boss tilts gradually downward along the direction far from the finger fingertip.
6. a kind of flexible manipulator according to claim 5, it is characterised in that：The lug boss have it is multiple, it is multiple described
Length extending direction of the lug boss along the Fingers face is evenly spaced to be arranged on the Fingers face.
7. a kind of flexible manipulator according to claim 1, it is characterised in that：The semicircle donor has multiple, Duo Gesuo
State that length extending direction that semicircle donor is carried on the back along the Fingers is evenly spaced to be arranged in the Fingers back.
8. a kind of flexible manipulator according to claim 7, it is characterised in that：The circle center line connecting of multiple semicircle donors
It is parallel to the length extending direction of the Fingers back of the body.
9. a kind of flexible manipulator according to claim 1, it is characterised in that：The Fingers face, the Fingers back of the body,
The semicircle donor is made of silica gel material.
10. a kind of flexible manipulator according to claim 9, it is characterised in that：The semicircle donor and the Fingers
The back of the body is integrally formed, and the Fingers back of the body ultrasonic bond is set to the side in the Fingers face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810336627.2A CN108312172A (en) | 2018-04-16 | 2018-04-16 | A kind of flexible manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810336627.2A CN108312172A (en) | 2018-04-16 | 2018-04-16 | A kind of flexible manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108312172A true CN108312172A (en) | 2018-07-24 |
Family
ID=62897026
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810336627.2A Pending CN108312172A (en) | 2018-04-16 | 2018-04-16 | A kind of flexible manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN108312172A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176571A (en) * | 2018-10-18 | 2019-01-11 | 上海交通大学 | Finger wrist integral type software gripper |
| CN109436787A (en) * | 2018-12-21 | 2019-03-08 | 广东赛德英斯智能装备有限公司 | A kind of weight self-adapting type article grasping means and the device for realizing this method |
| CN109483600A (en) * | 2018-12-14 | 2019-03-19 | 苏州迪天机器人自动化有限公司 | Flexible manipulator grabs endurance testing device |
| CN109551507A (en) * | 2019-01-15 | 2019-04-02 | 中国海洋大学 | A kind of software manipulator based on machine learning |
| CN109927070A (en) * | 2019-04-17 | 2019-06-25 | 苏州柔性智能科技有限公司 | Multi-functional software handgrip for articles sorting |
| CN110238868A (en) * | 2019-06-13 | 2019-09-17 | 中日龙(襄阳)机电技术开发有限公司 | A kind of parallel clamp locking gear |
| CN110625641A (en) * | 2019-10-08 | 2019-12-31 | 何泽梁 | Pneumatic control equipment of flexible hand claw of multi-sensing robot |
| CN111300460A (en) * | 2020-04-09 | 2020-06-19 | 苏州大学 | Flexible finger structure of robot |
| CN111633676A (en) * | 2020-07-03 | 2020-09-08 | 江南大学 | Pneumatic soft manipulator |
| CN111745681A (en) * | 2020-06-10 | 2020-10-09 | 上海工程技术大学 | Multi-degree-of-freedom pneumatic soft manipulator with accurate positioning function |
| CN112248018A (en) * | 2020-10-13 | 2021-01-22 | 武汉轻工大学 | Flexible paw and manipulator |
| CN112828922A (en) * | 2021-02-02 | 2021-05-25 | 贾童童 | Expanded arm anticreep of perception indicates |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109176571B (en) * | 2018-10-18 | 2021-02-05 | 上海交通大学 | Finger and wrist integrated soft paw |
| CN109176571A (en) * | 2018-10-18 | 2019-01-11 | 上海交通大学 | Finger wrist integral type software gripper |
| CN109483600A (en) * | 2018-12-14 | 2019-03-19 | 苏州迪天机器人自动化有限公司 | Flexible manipulator grabs endurance testing device |
| CN109436787A (en) * | 2018-12-21 | 2019-03-08 | 广东赛德英斯智能装备有限公司 | A kind of weight self-adapting type article grasping means and the device for realizing this method |
| CN109551507A (en) * | 2019-01-15 | 2019-04-02 | 中国海洋大学 | A kind of software manipulator based on machine learning |
| CN109927070A (en) * | 2019-04-17 | 2019-06-25 | 苏州柔性智能科技有限公司 | Multi-functional software handgrip for articles sorting |
| CN110238868A (en) * | 2019-06-13 | 2019-09-17 | 中日龙(襄阳)机电技术开发有限公司 | A kind of parallel clamp locking gear |
| CN110625641A (en) * | 2019-10-08 | 2019-12-31 | 何泽梁 | Pneumatic control equipment of flexible hand claw of multi-sensing robot |
| CN111300460A (en) * | 2020-04-09 | 2020-06-19 | 苏州大学 | Flexible finger structure of robot |
| CN111745681A (en) * | 2020-06-10 | 2020-10-09 | 上海工程技术大学 | Multi-degree-of-freedom pneumatic soft manipulator with accurate positioning function |
| CN111633676A (en) * | 2020-07-03 | 2020-09-08 | 江南大学 | Pneumatic soft manipulator |
| CN112248018A (en) * | 2020-10-13 | 2021-01-22 | 武汉轻工大学 | Flexible paw and manipulator |
| CN112828922A (en) * | 2021-02-02 | 2021-05-25 | 贾童童 | Expanded arm anticreep of perception indicates |
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